Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels

Nonuniform Dual-Rate Extended Kalman-Filter-Based Sensor Fusion for Path-Following Control of a Holonomic Mobile Robot with Four Mecanum Wheels

This paper presents an extended Kalman-filter-based sensor fusion approach, which enables path-following control of a holonomic mobile robot with four mecanum wheels. Output measurements of the mobile platform may be sensed at different rates: odometry and orientation data can be obtained at a fast...

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Bibliographic Details
Main Authors: Ricardo Pizá, Rafael Carbonell, Vicente Casanova, Ángel Cuenca, Julián J. Salt Llobregat
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Applied Sciences
Subjects:
mobile robot
sensor fusion
Kalman filter
odometry
mecanum wheels
Online Access:https://www.mdpi.com/2076-3417/12/7/3560

Internet

https://www.mdpi.com/2076-3417/12/7/3560

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